I know that on the G2 teg you can pull codes from the ABS computer, I don't see why you wouldn't be able to do the same thing on the G3. I don't know what the process is for a G3 though because I only have a G3 Helms manual.

I got an ABS light and it was the left rear wheel speed sensor, which I found out myself by pulling the code. I bought the part from an Acura dealer and brought it to Midas for them to pop it on just because I was at school and didn't have the tools to do it.